The Bilinear Model Predictive Method-Based Motion Control System of an Underactuated Ship with an Uncertain Model in the Disturbance

Abstract

Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency and ensuring maritime safety. This paper deals with the advanced control system for the three-degrees-of-freedom model of the underactuated ship in the condition of uncertain disturbance. Based on the three-degrees-of-freedom model of the underactuated ship, the authors built a bilinear model of the ship by linearizing each nonlinear model section. Then, the authors used the state estimator to compensate for uncertain components and random disturbances in the model. Finally, the authors built the output-feedback predictive controller based on the channel-separation principle combined with direct observation of the continuous model for controlling the motion of the underactuated ship in the case of uncertain disturbance and the bound control signals. The result is that the movement quality of the underactuated ship is very good in the context of uncertain disturbance and bound control signals.

Tracking control for planar nonminimum-phase bilinear control system with disturbance using backstepping

“…This article presents the control design of a non-minimum phase bilinear control system containing a disturbance function. The main difference with previous studies in [12]- [14], [16], [18] is in terms of the presence of a disturbance function in the system and the type of system and in [15], [34]- [36] is in terms of the use of the control design method used. The method used in this article is the backstepping method, which develops the previous results in [37].…”

“…Some examples of the use of other bilinear control systems can be seen in the boost converter problem in [11], [12], on controlling the spread of disease in [13], [14], on directing ship motion in [15], on regulating hot water storage in [16], on the diesel engine fuel collector in [17]. The application of control to the Hilbert chamber using finite feedback has also been carried out [18].…”

Recent Advances on Optimization for Control, Observation, and Safety

“…Nguyen et al [12] present the design of a bilinear model-based predictive control for the three-degrees-of-freedom model of an underactuated ship affected by uncertain disturbances. The bilinear model of the ship is obtained by linearizing each nonlinear model section and the uncertain components and random disturbances of the model are compensated with a state estimator.…”

The optimal control system of the ship based on the linear quadratic regular algorithm

“…This is a controller with a simple structure, but the quality of the control system is not high. Recently, the development of informatics and electronic technology let the scientist to set up the advanced control theory for ship, such as fuzzy control [5][6][7], the model predictive control [8][9][10], the sliding mode control [11,12], the backstepping technique [13,14], the adaptive control [15,16], etc. The research [17] has proposed the control system of the ship in order for the motion trajectory to follow with the desired trajectory based on the backstepping technique.…”